76,294 research outputs found
Feedrate planning for machining with industrial six-axis robots
The authors want to thank Stäubli for providing the necessary information of the controller, Dynalog for its contribution to the experimental validations and X. Helle for its material contributions.Nowadays, the adaptation of industrial robots to carry out high-speed machining operations is strongly required by the manufacturing industry. This new technology machining process demands the improvement of the overall performances of robots to achieve an accuracy level close to that realized by machine-tools. This paper presents a method of trajectory planning adapted for continuous machining by robot. The methodology used is based on a parametric interpolation of the geometry in the operational space. FIR filters properties are exploited to generate the tool feedrate with limited jerk. This planning method is validated experimentally on an industrial robot
Parallel Multi-Hypothesis Algorithm for Criticality Estimation in Traffic and Collision Avoidance
Due to the current developments towards autonomous driving and vehicle active
safety, there is an increasing necessity for algorithms that are able to
perform complex criticality predictions in real-time. Being able to process
multi-object traffic scenarios aids the implementation of a variety of
automotive applications such as driver assistance systems for collision
prevention and mitigation as well as fall-back systems for autonomous vehicles.
We present a fully model-based algorithm with a parallelizable architecture.
The proposed algorithm can evaluate the criticality of complex, multi-modal
(vehicles and pedestrians) traffic scenarios by simulating millions of
trajectory combinations and detecting collisions between objects. The algorithm
is able to estimate upcoming criticality at very early stages, demonstrating
its potential for vehicle safety-systems and autonomous driving applications.
An implementation on an embedded system in a test vehicle proves in a
prototypical manner the compatibility of the algorithm with the hardware
possibilities of modern cars. For a complex traffic scenario with 11 dynamic
objects, more than 86 million pose combinations are evaluated in 21 ms on the
GPU of a Drive PX~2
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Reduction of gear pair transmission error with tooth profile modification
The gear noise problem that widely occurs in power transmission systems is typically characterised by one or more high amplitude acoustic signals. The noise originates from the vibration of the gear pair system caused by transmission error excitation that arises from tooth profile errors, misalignment and tooth deflections. This paper aims to further research the effect of tooth profile modifications on the transmission error of gear pairs. A spur gear pair was modelled using finite elements, and the gear mesh was simulated and analysed under static conditions. The results obtained were used to study the effect of intentional tooth profile modifications on the transmission error of the gear pair. A detailed parametric study, involving development of an optimisation algorithm to design the tooth modifications, was performed to quantify the changes in the transmission error as a function of tooth profile modification parameters as compared to an unmodified gear pair baseline
Numerical simulation of conservation laws with moving grid nodes: Application to tsunami wave modelling
In the present article we describe a few simple and efficient finite volume
type schemes on moving grids in one spatial dimension combined with appropriate
predictor-corrector method to achieve higher resolution. The underlying finite
volume scheme is conservative and it is accurate up to the second order in
space. The main novelty consists in the motion of the grid. This new dynamic
aspect can be used to resolve better the areas with large solution gradients or
any other special features. No interpolation procedure is employed, thus
unnecessary solution smearing is avoided, and therefore, our method enjoys
excellent conservation properties. The resulting grid is completely
redistributed according the choice of the so-called monitor function. Several
more or less universal choices of the monitor function are provided. Finally,
the performance of the proposed algorithm is illustrated on several examples
stemming from the simple linear advection to the simulation of complex shallow
water waves. The exact well-balanced property is proven. We believe that the
techniques described in our paper can be beneficially used to model tsunami
wave propagation and run-up.Comment: 46 pages, 7 figures, 7 tables, 94 references. Accepted to
Geosciences. Other author's papers can be downloaded at
http://www.denys-dutykh.com
Evolutionary strategy search algorithm for fast block motion estimation
The evolutionary strategy search (ESS) algorithm is a novel method for implementing fast block motion estimation (ME) using evolutionary
strategy (ES). ESS uses a combination of ideas based on existing search strategies and employs a novel (1þsl) ES implementation. It is essentially a succession of random searches, but by controlling the placement and distribution of these searches in a simple way, it proves
possible to achieve comparable motion vector accuracy to the more established ME strategies, but with enhanced convergence speed
3D high definition video coding on a GPU-based heterogeneous system
H.264/MVC is a standard for supporting the sensation of 3D, based on coding from 2 (stereo) to N views. H.264/MVC adopts many coding options inherited from single view H.264/AVC, and thus its complexity is even higher, mainly because the number of processing views is higher. In this manuscript, we aim at an efficient parallelization of the most computationally intensive video encoding module for stereo sequences. In particular, inter prediction and its collaborative execution on a heterogeneous platform. The proposal is based on an efficient dynamic load balancing algorithm and on breaking encoding dependencies. Experimental results demonstrate the proposed algorithm's ability to reduce the encoding time for different stereo high definition sequences. Speed-up values of up to 90× were obtained when compared with the reference encoder on the same platform. Moreover, the proposed algorithm also provides a more energy-efficient approach and hence requires less energy than the sequential reference algorith
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